Programmed digital motor control for a machine tool using a pulse distribution technique



Dec. 10, 1968 ToHRu MOTOOKA ET AL 3,416,056

' PROGRAMMED DIGITAL MOTOR CONTROL: FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 1 X F/G.3

Dec. 10, 1968 TQHRU MOTOQKA ETAL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 2 I.- :1 O. D O

I 8 3 r; 5 I I;

L I O E Si- E R Id: I: O ,O 2 *3 e 1k s g E E 29- '52 8 uu ou ou O X 0 +0 m REGISTER -0 E 2 p REGISTER g; 0: DJ u c: 3 8 REGISTER I I? 2 3 MN REGISTER J I! a. O

N REGISTER REGISTER g E N REGISTER a Q;

N REGISTER L 2? OLE: K

G 0: V- 5 2AM o I Q) Q LU m g :1 LL 0: E '1, 53 i J n- Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 5 IAJ $1: I u. H y E l 4 T I 1 i I 3 1i 1 A h i N 7 3 w z I a N 3 u k g o.

A w :4 llIlIIIIIIlIIIIIlIIlIllII w s i z IIIIIIIIIIIIIIIIIIIIII,

M x 1 1 l P W E E; E X

SADDLE Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL uswe A PULSE msnusumon TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 4 LL oo 0 o g 0O O If 03 o o 00 Q I 000 o g "N o o oo 2 O0 OQO m 0 0 g 00 o 00 0000 EH 0 oo o o 00 0 E1 00 00 r0 o 00 0 i=1 00 000 m ooo 000 E! E 0 o r 00 o 0 H o oo o o 0 o o |:1

O o r o 000 W O o 00 m 00 o O 0 [21 0 o 000 El o o 000 I:

o o 0 HJ Dec. 10, 1968 TOHRU MOTOOKA ET AL. 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 5 RS MONOSTABLE ORI MULTIVIBRATOR L SC MDi ZsTA'RT SWITCH an 7 MONOSTABLE i MULTIVIBRATOR FM STOP 2 mz SWITCH Fo---- L RACH c PCH 6 0- 2 j 62 11 gJLC :1):e3 CARRY Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 7 WP(WORD PULSE) ac Taco R1 Bl BC BEAT TR) COUNTER G2 RI B2 J IBEI/ l BS 50 81/ 63 R2 B! 29 (,4 RSE) R1) S R2 B2 REGISTER FROM DR) SELECTOR rm 65 R3 91 8 29 66 F/G. 29 R5 (FROM 'coc) R3 B2 67 R4 B1 29 as R4 B2 Q: AANDB F/G./9

F/G.2O

Dec. 10, 1968 TOH 9700 ET AL 3,416,056

PROGRAMMED DIGITA O CONT FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 8 F/G.2/ F/G.22

OUTPUT OF FULL ADDER F I G 25 {WA {RA WRITING READ'NG o1 AMPLIFIER DELA LINE AMPL'F'ER OR & L SYNCHRONIZING cLocK .1 cmcun GI PULSES H ,A-BUS 1B|T DELAY ea FD B-aus ea wc Nl-DELAY LINE RC WRITING F G 26 READ'NG AMPLIHER AMPLIFIER WA i I RA \NPUT OUTPUT PULSE I F/G.30a SPs E WP "I 1WORD 2.7 (lso osec) F/G.30c

SB(SIGN BIT) n F/G.306

PB(PAR1TY an) sMgkJ L n Fl6.30g

Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 9 EXCITING SIGNAL m I I w I I Q V2 I V-REGISTER RV 084 I PULSE GENERATOR PS FROM INPUT REGISTER- TO FIG.23

Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet l0 I +2 I I OR I i +.x I I I I I I I 0R2 I -x l l I l I I I I I I I R3 I I +Y l I I I 0R4 I Y I I I l l i l I l I I I I 2 I I I I I I I I Re} 2 I f I I l I I I PXZ Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 11 FLIP FLOP DIS P(WORD PULSE) FLIP FLOP 6c DR) co c4 c2 c3 CYCLE COUNTER LNZ FP LN3 (FROM Ps) LNI LN LN3 (FROM DR) s5 +A2 (SIGN BIT) SIGN DETECTOR co 7 X 3 RE1 G5 R(E)2 SUM D20 Y SUM Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 12 AL AR LN 3,416,056 L FOR A MACHINE TOOL ION TECHNIQUE 23 Sheets-Sheet 15 0, 1968 TOHRU MOTOOKA ET AL PROGRAMMED DIGITAL MOTOR CONTRO USING A PULSE DISTRIBUT Filed Aug. 18, 1967 STEPPING MOTOR so 'F/G.33

MILLING MACHINE Dec. 10, 1968 TQHRU MOTOOKA ET AL. 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 14 RI F8 F7 F6 in F4 F3 F2 F1 0 v 1 a D i s J- OUTPUT x T T T T T os 105 m STRAIGHT LINE LN (2) COUNTER-CLOCKWISE ARC AL F/G.37 F/G.38

Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056 7 PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 15 Fl6.40a FIG.40b

Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

' PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 25 Sheets-Sheet 16 R181 (R1) 1o(1o1o BINARY) R1 R182 (R1)+ OUTPUT m FlG.36- R1 R281 (R2)X1O R2 R282 (R2)+ OUTPUT m FlG.36- R2 R381 (R3)x10 R3 FIG. 44 R382 (Rs)+ouTPuT IN FIG.36 R3 R481 (R4)x1o R4 R482 (R4)+ OUTPUT IN F1e.3s- R4 R252 R381 R382 R451 R482 I Filed Aug. 18, 1967 Baskets-Sheet 1a STRAIGHT LINE Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Dec. 10, 1968 TOHRU MOTOOKA ET AL 3,416,056

PROGRAMMED DIGITAL MOTOR CONTROL FOR A MACHINE TOOL USING A PULSE DISTRIBUTION TECHNIQUE Filed Aug. 18, 1967 23 Sheets-Sheet 19 

